EP3528995A1 - Procédé permettant de découper une pièce au moyen d'un faisceau laser - Google Patents

Procédé permettant de découper une pièce au moyen d'un faisceau laser

Info

Publication number
EP3528995A1
EP3528995A1 EP17798107.3A EP17798107A EP3528995A1 EP 3528995 A1 EP3528995 A1 EP 3528995A1 EP 17798107 A EP17798107 A EP 17798107A EP 3528995 A1 EP3528995 A1 EP 3528995A1
Authority
EP
European Patent Office
Prior art keywords
cutting
workpiece
contour
puncture hole
laser beam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17798107.3A
Other languages
German (de)
English (en)
Other versions
EP3528995B1 (fr
Inventor
Patrick Mach
Michael Krutzke
Wolf Wadehn
Yannic Burde
Christoph Kraus
Julian Weeber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trumpf Werkzeugmaschinen SE and Co KG
Original Assignee
Trumpf Werkzeugmaschinen SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Trumpf Werkzeugmaschinen SE and Co KG filed Critical Trumpf Werkzeugmaschinen SE and Co KG
Publication of EP3528995A1 publication Critical patent/EP3528995A1/fr
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Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/046—Automatically focusing the laser beam
    • B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/1462—Nozzles; Features related to nozzles
    • B23K26/1464—Supply to, or discharge from, nozzles of media, e.g. gas, powder, wire

Definitions

  • the invention is based on a method for cutting a workpiece, preferably plate-shaped and / or metallic, along a predeterminable separating contour by means of a laser beam and a cutting gas emerging from a nozzle, the laser beam being introduced into the workpiece to form a piercing hole on the cutting contour or at least partially pierced next to the cutting contour.
  • a start-up path leading the actual cutting contour is required after the laser beam has pierced the workpiece. It is needed because a material ejection occurs around the puncture hole during insertion. moreover would hurt the cutting contour, if directly on this would be stabbed.
  • Cutting parameters are, for example, the distance of the nozzle from the workpiece, focus position of the laser, etc.
  • a generic method is known from US 5,770,833 AI.
  • a method is described for piercing a laser beam into a workpiece, in which the puncturing is started slightly next to the actual puncture hole and the distance between the nozzle and the workpiece is lowered continuously as it travels to the puncture hole.
  • JP 60240393 A It is known from JP 60240393 A to direct a laser beam onto a workpiece and to heat the material of the workpiece to near its melting temperature. Then a nozzle is moved towards the workpiece, whereby a piercing takes place.
  • the object of the present invention is therefore to provide a method with which the process speed can be increased during the laser cutting of a workpiece.
  • the object is achieved by a method for cutting a, preferably plate-shaped and / or metallic, workpiece along a predeterminable cutting contour by means of a laser beam and an emerging from a nozzle cutting gas, wherein the laser beam into the workpiece to form a puncture hole on the cutting contour or at least partially punctures next to the cutting contour, wherein during the formation of the puncture hole at least two machining parameters and / or on a switching path, which is located from the puncture hole or a lying between the puncture hole and the cutting contour starting point and a lying on the cutting contour end, at least one machining parameter continuously become.
  • the switching path can start directly at the puncture hole, but alternatively it can also start at a distance from the puncture hole.
  • the switching path can also extend into the cutting contour, so that the distance of the piercing hole can be kept small from the cutting contour.
  • the puncture material-free takes place.
  • melt splashes for example, settle on the surface of the workpiece, in particular in areas of a good part to be produced.
  • lay-free piercing the puncture hole must not be spaced from the cutting contour, but may be on the cutting contour.
  • the piercing can be carried out by first performing a partial puncture, then blowing off a resulting material charge, preferably by means of the cutting gas, and then performing a complete puncture in the puncture hole to be formed.
  • the machining parameter is selected from the group focus position, focus diameter, nozzle-workpiece distance, gas pressure, in particular cutting gas pressure and / or transverse blowing pressure, laser power and cutting speed.
  • This group of cutting parameters forms a particularly important set of machining parameters (cutting parameters) to be set at the beginning of a cutting process.
  • the machining parameters are changed linearly.
  • the distance between the nozzle and the workpiece can be changed linearly in a particularly simple way such that the nozzle or the cutting head on which the nozzle is arranged approaches the workpiece at a constant speed.
  • the nozzle is approximated to the workpiece during the insertion and / or on the switching path.
  • the cutting speed is increased on the switching path.
  • the switching distance can be used to accelerate the cutting speed, for example, to a desired final speed during the actual cutting process.
  • the focal position of the laser beam during the insertion or on the switching path relative to the nozzle in the direction of the workpiece, with vertically aligned laser beam thus downwards is adjusted.
  • both a focus drift for example by heating optical elements in the cutting head, compensated and the formation of the kerf, preferably from the puncture hole, can be improved. A cut can be avoided.
  • the laser power and / or the pressure of the cutting gas during the insertion and / or on the switching route is increased. In this way, it can be avoided that, at the beginning of piercing, splashes in the direction of the processing optics are caused by too high a laser power and / or by the gas pressure. In the course of piercing and / or on the switching path, the laser power and / or the gas pressure on one for the
  • the machining parameters distance nozzle workpiece, focus position, focus diameter, laser power, gas pressure and / or cutting speed during the insertion or on a distance of about 5mm can be adjusted synchronously.
  • the cutting speed can be increased after piercing within a distance of 5 mm to the desired cutting speed end value, the nozzle-workpiece distance and the focus position are lowered to the respective desired end values, and gas pressure and laser power can be increased.
  • the cutting contour can be cut to completion with these cutting parameters.
  • individual processing parameters such as the gas pressure, can not be changed continuously but can be switched discretely at the end of the piercing or at the beginning or end of the switching path. It may also be provided to change certain processing parameters during the formation of the puncture hole and others on the switching path.
  • the distance of the puncture hole from the cutting contour corresponds approximately to a kerf width.
  • the puncture at a small distance from the cutting contour preferably in the adjacent to the cutting contour skeletons or in a slug, d. H. the waste or
  • the width of the distance from the cutting contour corresponds approximately to a kerf width, it is possible to prevent the cutting contour from being damaged along the good part adjacent to the skeletal skeleton or on the good part due to the diameter of the puncture hole.
  • the puncture less than 1 mm, preferably about 0.4 mm, next to the cutting contour.
  • machining parameters to be changed after piercing and before starting from the puncture hole, e.g. the distance nozzle-workpiece increases and the focus position of the workpiece in the direction of the nozzle, d. H. with vertically aligned laser beam upwards, is adjusted.
  • the actual cutting contour can be inserted into the workpiece.
  • the puncture can be made materialaufsch-poor.
  • a larger nozzle spacing and a higher focal position with the cutting head stationary preferably with the laser beam switched off, can be set as starting parameters and the gas pressure of the cutting gas can be increased.
  • the laser beam can then be switched on and driven in or driven out of the puncture hole into the cutting contour at a low speed.
  • the respective desired end values (cutting values) of the machining parameters can then be set linearly, with which then can be cut along the remaining cutting contour.
  • the puncture which is preferably carried out directly next to the good-part cutting contour, and the substantial omission of a starting distance, the laser cutting time of the good parts can be reduced, in some cases even by be reduced by up to 20%.
  • several good parts to be produced can be arranged more tightly on a workpiece board, which can achieve a considerable saving of material.
  • Figure 2 is a plan view of a workpiece to be cut with cutting contour and puncture hole
  • Figure 3 is a schematic representation of a beam path with puncture hole and switching path
  • FIG. 4 is a schematic representation of the method according to the invention.
  • 1 shows a laser cutting machine 1 for laser cutting a workpiece 2, which is arranged on a workpiece support 3.
  • the laser cutting machine 1 has a laser beam generator 4, which is formed in this embodiment as a diode laser. In alternative embodiments, it is provided to form the laser beam generator 4 as a CO 2 laser or solid-state laser.
  • Figure 1 is a
  • a laser beam 6 is generated, which is guided by means of light pipe or deflecting mirrors from the laser beam generator 4 to the cutting head 5.
  • the laser beam 6 is directed onto the workpiece 2 by means of a focusing optic arranged in the cutting head 5.
  • the laser cutting machine 1 is also supplied with cutting gases 7, in this embodiment, oxygen and nitrogen.
  • Cutting gases 7 enter a nozzle (cutting gas nozzle) 8 of the cutting head 5, from which they exit together with the laser beam 6.
  • the laser cutting machine 1 furthermore comprises optical elements, for example adaptive optics 9 or a plurality of lenses of a zoom optical system, with which focus position and focus diameter of the laser beam 6 can be varied or adjusted.
  • the laser cutting machine 1 has a machine control 10. The machine control 10 is set up to move both the cutting head 5 together with the cutting gas nozzle 8 relative to the workpiece 2 and also to control the optics 9.
  • the machine control 10 is adapted to control machining parameters of the laser cutting machine 1, in particular focus position of the laser beam 6, nozzle-workpiece distance and cutting speed of the laser beam or travel speed and locations of the cutting head 5 and the intensity of the laser beam 6 and the gas pressure of the cutting gases 7.
  • the machine control 10 is set up, the method according to the invention described in more detail below on the laser to perform cutting machine 1.
  • the machine control 10 is set up to continuously change at least one processing parameter during the insertion of the laser beam 6 into the workpiece 2 and / or on a switchover path.
  • the switching path extends for this purpose on the workpiece 2 to be cut between a piercing hole produced by the laser beam 6 and a point of the workpiece 2 lying on a prescribable cutting contour.
  • FIG. 2 now shows the workpiece 2 of FIG. 1 in plan view. Schematically illustrated is a cutting contour 100 along which the workpiece 2 is to be cut. Furthermore, a puncture hole 101 of the laser beam can be seen.
  • the cutting contour 100 encloses a Gutteil Scheme 102. On the outside of the contour 100 is adjacent to a residual grid area 103.
  • the residual grid region 103 can serve as a waste area and / or - in particular with a greater distance from the cutting contour 100 - for the production of further Gutteil Schemee 102nd
  • the puncture takes place directly next to the actual cutting contour 100.
  • the puncture hole 101 is thus located in the skeletal region 103, wherein the distance of the puncture hole 101 to the cutting contour 100 corresponds approximately to a kerf width B.
  • the puncture hole 101 does not reach the Gutteil Scheme 102 facing side of the cutting contour 100. Effects of the puncture on the Gutteil Society 102 are thus minimized.
  • the puncture hole 101 can also be arranged on or within the cutting contour 100.
  • a path 104 ⁇ of a laser beam on a workpiece T is shown schematically enlarged.
  • a puncture hole 10 from which the laser beam is guided along the path 104 Zu , can be seen.
  • the laser covers a starting distance 105 'in this embodiment with a length a of 0.2 mm.
  • the switching path 107 ⁇ extends in particular into a cutting contour 100 ⁇ into the final position 108 ⁇ into it.
  • the cutting contour 100 ⁇ delimits a good part region 102 ⁇ , ie the workpiece part to be manufactured. Outside the cutting contour 100 ⁇ in this embodiment, the length of the switching distance b is 0.2 mm.
  • the switching path has a length c of 4.8 mm.
  • FIG. 4 schematically shows four method steps A, B, C, D of a variant of the method according to the invention.
  • the workpiece T (FIG. 3) to be cut is formed from 8 mm thick stainless steel and is to be cut on the laser cutting machine 1 of FIG.
  • the laser cutting machine 1 is formed in this example as a 2D laser flatbed machine and is operated to carry out melt cuts with nitrogen as a cutting gas.
  • a puncture takes place devoid of pest at a lateral distance of a + b (FIG. 3) from 0.4 mm to the desired good-part cutting contour 100 ⁇ (FIG. 3).
  • the vertical distance of the cutting gas nozzle 8 to the workpiece 2, ie the distance nozzle-workpiece, ADW, is in this process step A in this example 10mm.
  • the focal position FL measured relative to the mouth of the cutting gas nozzle 8 is -10 mm in this embodiment. In other words, the focus of the laser beam 6 is on the workpiece surface of the workpiece 2 ⁇
  • the gas pressure is 2 bar and the laser power 1500 W (average power).
  • step B starting takes place from the puncture hole 10 (FIG. 3).
  • the nozzle-workpiece distance ADW is set to 4 mm.
  • the focus position FL is set to -2.5mm.
  • the focus position FL is above the workpiece 2, ie between the cutting head 5 ( Figure 1) and the surface of the workpiece 2 ⁇
  • the gas pressure is increased to 18 bar.
  • the cutting head 5 and the laser beam 6 (FIG. 1) are moved with these starting parameters relative to the workpiece T at a feed or cutting speed v of 1.8 m per minute along the approach path 105 ⁇ .
  • values are selected that ensure a good cut start.
  • the cutting process can also be started with puncture parameters and the approach distance 105 ⁇ and the method step B can be omitted.
  • the subsequent method step C begins when the switching path 107 ⁇ (FIG. 3) is reached, ie when the initial position 106 is reached or - if the method step B is omitted - directly at the puncture hole 10 (FIG. 3).
  • the length b + c (FIG. 3) of the switching path 107 ⁇ is 5 mm in total.
  • At least one processing parameter is continuously and linearly so. far changed that it reaches a desired final value (cutting parameters) for the cut along the cutting contour 100 ⁇ .
  • the focal position FL is also linearly reduced from -2.5 mm to -6.5 mm in order to compensate for a thermally induced focus shift.
  • the feed or cutting speed v is increased from 1.8m per minute to 2.8m per minute.
  • a cut of the remaining cutting contour takes place with machining parameters (cutting parameters) set according to the desired end values.
  • the nozzle-workpiece distance ADW is 1 mm
  • the focal position -6.5 mm and the feed cutting speed v are 2.8 m per minute at a cutting gas pressure of 18 bar.
  • step C a continuous adaptation of the machining parameters along the switching path 107 'A standstill of the machining head 5 during retraction into the cutting contour 100, 100 ⁇ for the discrete switching of machining parameters is eliminated.
  • the starting route 105 ie, after starting the machining head 5 from the puncture hole 10, the continuous change of the machining parameters begins immediately. In this way, the time and distance required to reach the final cutting parameters is minimized.
  • the processing parameters are continuously changed during the process step A shown in FIG.
  • a vertical distance of the cutting gas nozzle 8 to the workpiece 2 (ADW) of 10mm is set at the beginning of the piercing of the laser beam 6 into an aluminum workpiece 2 with a thickness of 8mm, i. at the beginning of the process step A.
  • the focal position FL measured relative to the mouth of the cutting gas nozzle 8 is -10 mm in this embodiment.
  • the focus of the laser beam 6 is on the workpiece surface of the workpiece 2 ⁇
  • the laser power is 3500 W (pulsed) and the cutting gas pressure 0.6 bar.
  • another stream of gas may be directed onto the workpiece at an angle to the laser beam 6 to protect the cutting head 5 from splashes and smoke.
  • the cutting head 5 is moved vertically downwards until at the end of the puncturing the distance between the cutting gas nozzle 8 and the workpiece surface suitable for the subsequent cutting of the contour 100 .theta . is reached, which is preferably between 0.2mm and 5mm.
  • the gas pressure of the cutting gas 7 is continuously increased to 10 bar, the focus position FL is raised relative to the cutting gas nozzle 8, and the laser power is increased to 8000 W (CW).
  • the additional gas flow (discrete) is switched off.
  • the cutting contour 100 ⁇ is retracted along the shortest possible distance.
  • the puncture hole can be arranged on or within the cutting contour 100 ⁇ .
  • selected processing parameters are continuously changed during process step A and the same or other processing parameters on a switching path 107 ⁇ .
  • the distance (ADW) between the cutting gas nozzle 8 and the workpiece surface, the cutting gas pressure, and the focus position FL are continuously changed during the process step A, that is, during the piercing.
  • the switching path 107 ⁇ then takes place a continuous change of the laser power, the cutting speed v, the focus diameter and the focus position FL.
  • start-up parameters are reached at the end of method step A, with which the cutting process is started in method step B.
  • the subsequent process step C for the modification of the processing parameters until reaching cutting parameter values begins when the switchover distance 107 ⁇ (FIG. 3) is reached, ie when the initial position 106 is reached.
  • the distance ADW between the cutting gas nozzle 8 and the workpiece surface 10mm and the focus position FL relative to the mouth of the cutting gas nozzle 8 have a value of -10mm.
  • the distance ADW between the cutting gas nozzle 8 and the workpiece surface is 4 mm, the focal position FL is -2.5 mm.
  • Cutting head with a cutting speed of l, 8m / min moves.
  • the distance ADW between the cutting gas nozzle 8 and the workpiece surface is reduced to 1 mm
  • the focus position FL is shifted from -2.5 mm to -6.5 mm
  • the cutting speed is increased to 2.8 m / min.
  • these cutting values of processing parameters are reached so that the cutting of the cutting contour 100, 100 ⁇ in process step D may be carried out with these values.

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un procédé permettant de découper une pièce (2, 2'), de préférence en forme de plaque et/ou métallique, le long d'un contour de coupe (100, 100') pouvant être prédéfini au moyen d'un faisceau laser (6) et d'un gaz de coupe (7) sortant d'une buse (8). Le faisceau laser (6) perce la pièce (2, 2') pour former un trou de perçage (101, 101') sur le contour de coupe (100, 100') ou au moins en partie à côté du contour de coupe (100, 100'). L'invention est caractérisée en ce que, pendant la formation du trou de perçage (101, 101'), au moins deux paramètres d'usinage sont modifiés en continu, et/ou sur un parcours de basculement (107'), qui se situe entre le trou de perçage (101, 101') et un point d'extrémité (108') situé sur le contour de coupe (100, 100'), au moins un paramètre d'usinage est modifié en continu.
EP17798107.3A 2016-10-24 2017-10-20 Méthode de découpe au laser Active EP3528995B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016220807.1A DE102016220807B3 (de) 2016-10-24 2016-10-24 Verfahren zum Schneiden eines Werkstücks mittels eines Laserstrahls
PCT/EP2017/076923 WO2018077762A1 (fr) 2016-10-24 2017-10-20 Procédé permettant de découper une pièce au moyen d'un faisceau laser

Publications (2)

Publication Number Publication Date
EP3528995A1 true EP3528995A1 (fr) 2019-08-28
EP3528995B1 EP3528995B1 (fr) 2022-12-07

Family

ID=60331560

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17798107.3A Active EP3528995B1 (fr) 2016-10-24 2017-10-20 Méthode de découpe au laser

Country Status (5)

Country Link
US (1) US20190240786A1 (fr)
EP (1) EP3528995B1 (fr)
CN (1) CN109862993B (fr)
DE (1) DE102016220807B3 (fr)
WO (1) WO2018077762A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019212360A1 (de) * 2019-08-19 2021-02-25 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum Brennschneiden mittels eines Laserstrahls
CN111618455B (zh) * 2020-05-19 2021-10-22 广东宏石激光技术股份有限公司 一种激光切割机z轴组件的防尘方法
DE102020212088A1 (de) * 2020-09-25 2022-03-31 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum Laserschneiden
DE102022104779A1 (de) * 2022-03-01 2023-09-07 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren zur Bearbeitung eines platten- oder rohrförmigen Werkstücks
DE102022115642A1 (de) 2022-06-23 2023-12-28 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren zum Ausschneiden von Werkstückteilen aus einem plattenförmigen Werkstück entlang auf dem Werkstück vorgegebener Schneidkonturen mittels eines Laserstrahls

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JPS60240393A (ja) 1984-05-16 1985-11-29 Komatsu Ltd レ−ザ切断機による切断方法
JP3175781B2 (ja) 1991-10-17 2001-06-11 株式会社小松製作所 レーザ加工機のピアッシング方法
JP2634732B2 (ja) 1992-06-24 1997-07-30 ファナック株式会社 レーザ加工装置
JP3175993B2 (ja) * 1993-03-26 2001-06-11 株式会社小松製作所 小穴切断加工ユニットの軌跡制御方法
JPH07195186A (ja) 1993-12-30 1995-08-01 Nippei Toyama Corp レーザ加工機の加工条件切り替え方法
JPH07223084A (ja) * 1994-02-10 1995-08-22 Fanuc Ltd レーザ加工装置
JP3162255B2 (ja) * 1994-02-24 2001-04-25 三菱電機株式会社 レーザ加工方法及びその装置
JP3292021B2 (ja) * 1996-01-30 2002-06-17 三菱電機株式会社 レーザ加工方法およびレーザ加工装置
JP3516560B2 (ja) * 1996-09-11 2004-04-05 株式会社日平トヤマ レーザ加工方法
JP2002331377A (ja) * 2001-05-08 2002-11-19 Koike Sanso Kogyo Co Ltd レーザピアシング方法
JP2007196254A (ja) 2006-01-25 2007-08-09 Fanuc Ltd レーザ加工方法
JP2012115899A (ja) * 2010-11-09 2012-06-21 Amada Co Ltd レーザ切断加工方法及びレーザ加工装置
DE102013210857B3 (de) * 2013-06-11 2014-08-21 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zum Einstechen in metallische Werkstücke mittels eines Laserstrahls
JP6535475B2 (ja) 2015-02-10 2019-06-26 株式会社アマダホールディングス レーザ加工方法及びレーザ加工機

Also Published As

Publication number Publication date
US20190240786A1 (en) 2019-08-08
DE102016220807B3 (de) 2018-03-29
CN109862993A (zh) 2019-06-07
CN109862993B (zh) 2021-09-24
WO2018077762A1 (fr) 2018-05-03
EP3528995B1 (fr) 2022-12-07

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